Distributed Optimal Consensus for Multi-Agent Systems Under Independent Position and Velocity Topology

作者：Ding, Chenyang^*; Li, Junmin; Li Jinsha

来源：Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, 2017, 139(10): 101012.

DOI：10.1115/1.4036536

• Laplacian matrix
• distributed optimal control
• linear quadratic regulator
• second-order consensus of MAS
• independent topology graph

In this paper, linear quadratic regulator (LQR) theory is applied to solve the inverse optimal consensus problem for a second-order linear multi-agent systems (MAS) under independent position and velocity topology. The optimal Laplacian matrices related to the topologies of position and velocity are derived by solving the algebraic Riccati equation (ARE). Theoretically, we obtain the optimal Laplacian matrices, which correspond to the directed strongly connected graphs, for the second-order multi-agent systems. Finally, two simulation examples are provided to verify the theoretical analysis of this paper.

• 出版日期2017-10
• 单位西安电子科技大学